doc: seperate section for transcription methods

Author: franckgaga

docs/make.jl

@@ -48,6 +48,7 @@ makedocs(
                 "Plant Models" => "public/sim_model.md",
                 "State Estimators" => "public/state_estim.md",
                 "Predictive Controllers" => "public/predictive_control.md",
+                "Transcription Methods" => "public/transcription.md",
                 "Generic Functions" => "public/generic_func.md",
                 "Simulations and Plots" => "public/plot_sim.md",
             ],

docs/src/public/predictive_control.md

@@ -103,35 +103,3 @@ NonLinMPC
 ```@docs
 moveinput!
 ```
-
-## Direct Transcription Methods
-
-### TranscriptionMethod
-
-```@docs
-ModelPredictiveControl.TranscriptionMethod
-```
-
-### SingleShooting
-
-```@docs
-SingleShooting
-```
-
-### MultipleShooting
-
-```@docs
-MultipleShooting
-```
-
-### TrapezoidalCollocation
-
-```@docs
-TrapezoidalCollocation
-```
-
-### OrthogonalCollocation
-
-```@docs
-OrthogonalCollocation
-```

docs/src/public/transcription.md

@@ -0,0 +1,38 @@
+# Functions: Direct Transcription Methods
+
+```@contents
+Pages = ["transcription.md"]
+```
+
+This page contains the documentation of the direct transcription methods used to
+construct [`MovingHorizonEstimator`](@ref), [`LinMPC`](@ref) and [`NonLinMPC`](@ref) types.
+
+## TranscriptionMethod
+
+```@docs
+ModelPredictiveControl.TranscriptionMethod
+```
+
+## SingleShooting
+
+```@docs
+SingleShooting
+```
+
+## MultipleShooting
+
+```@docs
+MultipleShooting
+```
+
+## TrapezoidalCollocation
+
+```@docs
+TrapezoidalCollocation
+```
+
+## OrthogonalCollocation
+
+```@docs
+OrthogonalCollocation
+```

src/transcription.jl

@@ -1,7 +1,7 @@
 const COLLOCATION_NODE_TYPE = Float64
 
 """
-Abstract supertype of all transcription methods of [`PredictiveController`](@ref).
+Abstract supertype of all transcription methods for the optimal control/estimation problems.
 
 The module currently supports [`SingleShooting`](@ref), [`MultipleShooting`](@ref),
 [`TrapezoidalCollocation`](@ref) and [`OrthogonalCollocation`](@ref) transcription methods.